void auto_raw(void)
{
//while there is not a button pressed
while(!(UCSR0A & (1 << RXC0)))
{
//prints the raw vaues with a '$,' start and ',#' end
printf("$,");
printf("%d,", x_accel());
printf("%d,", y_accel());
printf("%d,", z_accel());
printf("%d,", x_gyro());
printf("%d,", y_gyro());
printf("%d,", z_gyro());
magnetometer();
printf("%d,", x_mag);
printf("%d,", y_mag);
printf("%d,", z_mag);
printf("#\n\r");
}
//if a button is pressed and that button is ctrl-z, reset autorun, display menu
if(uart_getchar() == 0x1A)
{
write_to_EEPROM(10,0);
config_menu();
}
auto_raw();
}
void raw(void)
{
//prints the raw values with a '$' start and '#\n\r' end
printf("$");
printf("%d,", x_accel());
printf("%d,", y_accel());
printf("%d,", z_accel());
printf("%d,", x_gyro());
printf("%d,", y_gyro());
printf("%d,", z_gyro());
//at least 100ms interval between mag measurements
if(num_sent % 10 == 0)
{
magnetometer();
}
printf("%d,", x_mag);
printf("%d,", y_mag);
printf("%d", z_mag);
printf("#\n\r");
if(num_sent == 9)
{
num_sent = 0;
}
else
{
num_sent++;
}
delay_ms(10);
}
void stgyros(void)
{
printf("x= %4d, ", x_gyro());
printf("y= %4d, ", y_gyro());
printf("z= %4d \n\r", z_gyro());
//delay_ms(300);
}
void print_itg3200(void)
{
printf("x= %4d, ", x_gyro());
printf("y= %4d, ", y_gyro());
printf("z= %4d\n\r", z_gyro());
delay_ms(20);
}
void raw(void)
{
//prints the raw vaues with a '$,' start and ',#' end
printf("$,");
printf("%d,", x_accel());
printf("%d,", y_accel());
printf("%d,", z_accel());
printf("%d,", x_gyro());
printf("%d,", y_gyro());
printf("%d,", z_gyro());
magnetometer();
printf("%d,", x_mag);
printf("%d,", y_mag);
printf("%d,", z_mag);
printf("#\n\r");
}
